In existing learning paradigms for robotics, gripper use (grasping [1]}, door opening [2]}, and throwing [3]}) and tool use (hammering [4]} and sweeping [5]}) are often studied in isolation, such as works which train the tool grasp policy separately from the tool use policy [4]}.
However, using a robot gripper or using a tool to push an object is intrinsically similar, as they share consistent laws of physics, such as friction, inertia, contacts, and force closures. In comparative psychology, it is also widely recognized that humans and animals tend to view tools as mere extensions of their own body/embodiment [7]}.
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